[Proposal] Vector Map Creation Requirement Specifications

[nisshan-x]

Motivation

While vector maps are crucial for autonomous driving systems using Autoware, there is currently a high barrier to creating appropriate vector maps. This is because, although the formats for lanelet2 and lanelet2-extension are publicly available, there is no documented specification for creating vector maps for Autoware.

To address this issue, I propose adding the vector map creation requirements to the autoware-documentation.

Proposal

Based on the internal vector map creation requirements used by TIER IV, I have created a generic set of requirements. The vector maps to be created basically depend on three factors:

• The driving environment
• The laws of the country where the environment exists
• Autoware's configuration

To ensure the requirements are as generic as possible and not dependent on these factors, I have created the specifications accordingly. While some examples are based on public roads in Japan, this is intended to make the document easier to understand, and I ask for your understanding in this regard.

Here is the draft PR that I have created.

Sample of requirement specifications

Future Plan

There are some other formats and attributes in lanelet2 and lanelet2-extension that TIER IV does not use, and thus, they are not included in the proposal of requirements specification. This does NOT imply that they are unnecessary. I hope that developers who use these specifications will build upon my document and add their own requirements.

Thanks,
Shinya Nishimoto

[nisshan-x]

My Proposal has been merged! Thanks a lot.

https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/